/PROG  TESTPNS0070
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "LV  BAN";
PROG_SIZE	= 3066;
CREATE		= DATE 20-09-01  TIME 13:57:46;
MODIFIED	= DATE 20-09-01  TIME 13:57:48;
FILE_NAME	= PNS0070;
VERSION		= 0;
LINE_COUNT	= 119;
MEMORY_SIZE	= 3634;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: RL1 ;
   6:  !  PROGRAM: PNS0051 ;
   7:  !  PART:53301125 ;
   8:  !ZYL15-7-16********************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  R[14]=90    ;
  13:  R[18]=1    ;
  14:  R[19]=.1    ;
  15:  R[35]=TIMER[4]    ;
  16:  !------------------------------- ;
  17:  !BEGINNING OF PROGRAM ;
  18:  CALL PARTDROP    ;
  19:  COL GUARD ADJUST R[14] ;
  20:  UTOOL_NUM=1 ;
  21:  UFRAME_NUM=0 ;
  22:  PAYLOAD[1] ;
  23:  CALL ARM_CHECK    ;
  24:  !INITIATE TO PICK-POUNCE ;
  25:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  26:J P[2:PICK POUNCE] 50% CNT100 ACC100 BREAK    ;
  27:   ;
  28:  R[1]=0    ;
  29:  TIMER[1]=RESET ;
  30:   ;
  31:  LBL[10:TOP OF LOOF] ;
  32:  OVERRIDE=R[5] ;
  33:   ;
  34:  !PROCEED TO PICK ;
  35:  LBL[20] ;
  36:  IF DI[1]=ON AND DI[2]=ON,JMP LBL[30] ;
  37:  IF DI[29]=ON,JMP LBL[90] ;
  38:  JMP LBL[20] ;
  39:  LBL[30:GOTO DROP POUNCE] ;
  40:  OVERRIDE=R[5] ;
  41:  DO[38]=OFF ;
  42:J P[8:DROP POUNCE] 30% CNT100    ;
  43:   ;
  44:  LBL[50:MOVE DROP SNEAK] ;
  45:  MONITOR Z_PU ;
  46:  OVERRIDE=R[5] ;
  47:  DO[38]=ON ;
  48:  IF R[39]=1,JMP LBL[51] ;
  49:  IF R[39]=2,JMP LBL[52] ;
  50:  IF R[39]=3,JMP LBL[53] ;
  51:  IF R[39]=4,JMP LBL[54] ;
  52:  IF R[39]=5,JMP LBL[55] ;
  53:  IF R[39]=6,JMP LBL[56] ;
  54:  IF R[39]=7,JMP LBL[57] ;
  55:  IF R[39]=8,JMP LBL[58] ;
  56:  IF R[39]=9,JMP LBL[59] ;
  57:  IF R[39]=10,JMP LBL[60] ;
  58:  IF R[39]=11,JMP LBL[61] ;
  59:   ;
  60:   ;
  61:  LBL[51] ;
  62:J P[3] 20% CNT100    ;
  63:  JMP LBL[70] ;
  64:   ;
  65:  LBL[52] ;
  66:J P[4] 20% CNT100    ;
  67:  JMP LBL[70] ;
  68:   ;
  69:  LBL[53] ;
  70:J P[5] 20% CNT100    ;
  71:  JMP LBL[70] ;
  72:   ;
  73:  LBL[54] ;
  74:J P[6] 20% CNT100    ;
  75:  JMP LBL[70] ;
  76:   ;
  77:  LBL[55] ;
  78:J P[7] 20% CNT100    ;
  79:  JMP LBL[70] ;
  80:   ;
  81:  LBL[56] ;
  82:J P[9] 20% CNT100    ;
  83:  JMP LBL[70] ;
  84:   ;
  85:  LBL[57] ;
  86:J P[10] 20% CNT100    ;
  87:  JMP LBL[70] ;
  88:   ;
  89:  LBL[58] ;
  90:J P[11] 20% CNT100    ;
  91:  JMP LBL[70] ;
  92:   ;
  93:  LBL[59] ;
  94:J P[12] 20% CNT100    ;
  95:  JMP LBL[70] ;
  96:   ;
  97:  LBL[60] ;
  98:J P[13] 20% CNT100    ;
  99:  JMP LBL[70] ;
 100:   ;
 101:  LBL[61] ;
 102:J P[14] 20% CNT100    ;
 103:  JMP LBL[70] ;
 104:   ;
 105:  LBL[70] ;
 106:   ;
 107:  IF DI[29]=ON,JMP LBL[90] ;
 108:  MONITOR END Z_PU ;
 109:  IF DI[2]=ON,JMP LBL[50] ;
 110:   ;
 111:  LBL[90:END OF CYCLE] ;
 112:  MONITOR END Z_PU ;
 113:  TIMER[1]=STOP ;
 114:J P[8:DROP POUNCE] 40% CNT100    ;
 115:J P[2:PICK POUNCE] 50% CNT100    ;
 116:  MOVE TO HOME    ;
 117:  DO[38]=OFF ;
 118:  R[38]=0    ;
 119:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2659.957  mm,	Y =  -743.334  mm,	Z =  -927.922  mm,
	W =  -179.311 deg,	P =      .574 deg,	R =   -89.997 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2657.790  mm,	Y =  -381.316  mm,	Z =  -936.231  mm,
	W =  -179.311 deg,	P =      .573 deg,	R =   -90.000 deg
};
P[3]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2490.021  mm,	Y = -1839.425  mm,	Z = -1114.880  mm,
	W =  -179.321 deg,	P =     2.266 deg,	R =   -89.990 deg
};
P[4]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2490.021  mm,	Y = -1839.425  mm,	Z = -1144.799  mm,
	W =  -179.321 deg,	P =     2.266 deg,	R =   -89.990 deg
};
P[5]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2490.022  mm,	Y = -1839.425  mm,	Z = -1173.197  mm,
	W =  -179.321 deg,	P =     2.266 deg,	R =   -89.990 deg
};
P[6]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.988  mm,	Y = -1839.314  mm,	Z = -1199.257  mm,
	W =  -179.325 deg,	P =     2.267 deg,	R =   -89.989 deg
};
P[7]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.988  mm,	Y = -1839.314  mm,	Z = -1230.295  mm,
	W =  -179.325 deg,	P =     2.267 deg,	R =   -89.989 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2521.434  mm,	Y = -1405.211  mm,	Z =  -992.972  mm,
	W =  -179.305 deg,	P =      .575 deg,	R =   -89.997 deg
};
P[9]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.891  mm,	Y = -1839.286  mm,	Z = -1260.994  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
P[10]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.890  mm,	Y = -1839.286  mm,	Z = -1290.593  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
P[11]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.890  mm,	Y = -1839.285  mm,	Z = -1320.672  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
P[12]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.889  mm,	Y = -1839.284  mm,	Z = -1350.750  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
P[13]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.890  mm,	Y = -1839.282  mm,	Z = -1380.141  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
P[14]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2489.890  mm,	Y = -1818.226  mm,	Z = -1384.493  mm,
	W =  -179.329 deg,	P =     2.268 deg,	R =   -89.990 deg
};
/END
